/*
 * Copyright (c) 2006-2021, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2023-01-15     Wangjiangbo       the first version
 */
#ifndef __APP_ARM_CONTROL_H__
#define __APP_ARM_CONTROL_H__

#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

#include "bsp/bsp.h"

#define UP_DOWN             1           //上下
#define LEFT_RIGHT          2           //左右
#define IN_OUT              3           //伸缩
#define PITCH               4           //俯仰
#define YAW                 5           //偏摆
#define ROLL                6           //翻滚

#define UNFOLD_STORAGE      7           //展开收缩

typedef struct {

    int8_t u_d;
    int8_t l_r;
    int8_t i_o;

    int8_t pitch;
    int8_t yaw;
    int8_t roll;

    int8_t uf_st;

} arm_direct;


void app_arm_init(void);
void app_arm_enable(void);
void app_arm_disable(void);
void app_arm_run(int direct, int32_t vel);
void app_get_arm_direct(arm_direct *_direct);





#ifdef __cplusplus
}
#endif /* __cplusplus */


#endif /* APPLICATIONS_APP_APP_MOTORCONTROL_H_ */
